CN210122324U

CN210122324U - Transport vehicle and storage system

Info

Publication number: CN210122324U
Application number: CN201920619942.6U
Authority: CN
Inventors: 吴明福; 刘臣
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-03-03
Anticipated expiration: 2029-04-30

Abstract

The embodiment of the utility model provides a transport vechicle and warehouse system. The embodiment of the utility model provides a transport vechicle, include: the method comprises the following steps: the climbing device comprises a vehicle body, a driving gear train and climbing assemblies, wherein the driving gear train is arranged at the bottom of the vehicle body and used for driving the transport vehicle to move horizontally, the climbing assemblies are arranged on two sides of the vehicle body and used for being meshed with a track arranged on a goods shelf so that the transport vehicle can vertically climb along the track direction. The embodiment of the utility model provides a transport vechicle has both realized that the transport vechicle can enough carry out the level straight line, can also carry out perpendicular climbing on goods shelves, has richened the operation orbit of transport vechicle to the efficiency of transport vechicle operation has been improved.

Description

Transport vehicle and storage system

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a transport vechicle and warehouse system.

Background

Along with the rapid development of scientific technology, the goods storage also tends to be more and more intelligent, and in a modern warehouse, a transport vehicle gradually replaces the manual work to carry goods.

The traditional transport vehicle is generally used for carrying out the operation of loading and unloading goods in a three-dimensional warehouse, and only can run in one direction, and the main mode is that the transport vehicle can only shuttle on a horizontal linear track in a plane. If a lane needs to be changed, the transport vehicle running straight horizontally needs to be transported from one lane to another lane at the end of the lane by a hoist or the like. After the goods are taken out by the horizontal straight transport vehicle, the transport vehicle can be sorted only after the functions of transmission, collection and placement and the like are carried out by a series of assembly lines, and the goods need to be returned to the transport vehicle three-dimensional warehouse from another series of assembly lines after the sorting is finished.

Therefore, when the traditional horizontal straight transport vehicle is used for automatically transporting goods, a large number of auxiliary equipment such as conveying lines and elevators need to be arranged, the cost is high, the equipment investment is large, and when the requirements for order delivery and warehousing are large, the running track of the traditional horizontal straight transport vehicle is solidified, so that the congestion is easily caused.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a transport vechicle and warehouse system to realize that the transport vechicle can enough carry out the level and go straight, can also carry out perpendicular climbing on goods shelves.

In a first aspect, an embodiment of the present invention provides a transportation vehicle including: the climbing device comprises a vehicle body, a driving gear train and a climbing assembly;

the driving gear train is arranged at the bottom of the vehicle body and is used for driving the transport vehicle to move horizontally;

the climbing assemblies are arranged on two sides of the vehicle body and are used for being meshed with a track arranged on a goods shelf so that the transport vehicle can vertically climb along the track direction.

In one possible design, the climbing assembly includes: a power assembly and a transmission assembly;

the output end of the power assembly is connected with the input end of the transmission assembly, and the output end of the transmission assembly is used for being meshed with the track.

In one possible design, the power assembly includes: a motor and a transmission pair;

the motor is connected with the input end of the transmission pair, and the output end of the transmission pair is connected with the input end of the transmission assembly.

In one possible design, the climbing assembly further includes: the telescopic components are arranged on two sides of the vehicle body, and the bracket and the transmission shaft are arranged at the moving end of the telescopic components;

the motor is connected with the input end of the transmission pair, the output end of the transmission pair is connected with the transmission shaft, two ends of the transmission shaft are respectively provided with a rotating part, and the rotating parts are rotatably connected to the bracket;

when the transport vehicle climbs vertically, the telescopic assembly extends out, so that the rotating part is meshed with the track to form a kinematic pair;

when the transport vehicle moves horizontally, the telescopic assembly retracts to enable the rotating part to be disengaged from the track, and the kinematic pair is released.

In one possible design, the bracket is provided with an alignment wheel set;

the aligning wheel group comprises two aligning wheels which are oppositely arranged;

when the telescopic assembly extends out, the aligning block arranged at the end part of the goods shelf is embedded between the two aligning wheels, so that the two aligning wheels respectively move along the side walls of the two sides of the aligning block, and the alignment of the rotating component and the track is completed.

In one possible design, the drive train comprises: the device comprises a mounting seat, a swing arm, a buffer assembly and a wheel;

the mounting seat is arranged at the bottom of the vehicle body;

the first end of the swing arm is hinged with the mounting seat, the second end of the swing arm is connected with the first end of the buffer assembly, and the second end of the buffer assembly is connected to the vehicle body;

the wheels are arranged between two ends of the swing arm.

In one possible design, the cushioning assembly includes: the limiting device comprises a limiting rod, a spring and a limiting ring;

the limiting rod sequentially penetrates through the vehicle body, the spring and the swing arm;

the limiting ring is arranged at one end, far away from the vehicle body, of the limiting rod.

In one possible design, a first sensor is arranged on the climbing assembly on one side of the vehicle body, a second sensor is arranged on the climbing assembly on the other side of the vehicle body, and the first sensor and the second sensor are respectively connected with a control assembly arranged on the vehicle body;

the first sensor is used for detecting a first detection hole on the track of the corresponding side, and the second sensor is used for detecting a second detection hole on the track of the corresponding side, wherein the first detection hole and the second detection hole are positioned at the same height;

the control assembly adjusts the rotating speed of the motor according to the current climbing speed of the transport vehicle and the time difference between the first detection hole and the second detection hole, so that the transport vehicle can keep a posture perpendicular to the track to climb vertically.

In one possible design, the transportation vehicle further includes: the container picking and placing assembly;

the container taking and placing assembly is arranged on the vehicle body;

the container taking and placing assembly is used for taking and placing the containers placed on the goods shelf.

In one possible design, the container pick and place assembly includes: the container taking and placing expansion plate and the driving mechanism;

the container taking and placing expansion plate extends out or retracts into the vehicle body under the driving of the driving mechanism.

In one possible design, the transportation vehicle further includes: the third sensor is arranged on the vehicle body and is connected with the control component arranged on the vehicle body;

the container taking and placing expansion plate triggers the third sensor when extending out;

so that the control assembly determines the running time of the container taking and placing expansion plate according to the extending speed of the container taking and placing expansion plate and the preset positioning distance;

the preset distance is the distance between the stop part on the goods shelf and the third sensor.

In one possible design, the vehicle body includes: the device comprises a main body frame, a container taking and placing assembly supporting frame and a battery compartment frame;

the container taking and placing assembly supporting frame and the battery bin frame are detachably mounted on the main body frame;

the container taking and placing assembly is arranged on the container taking and placing assembly supporting frame;

and the battery bin frame is provided with a battery component.

In a second aspect, the embodiments of the present invention further provide a storage system, which includes a rack and any one of the transportation vehicles provided in the first aspect.

The embodiment of the utility model provides a transport vechicle and storage system drives the transport vechicle through the drive train that sets up in the bottom of automobile body and carries out horizontal motion, and set up through the subassembly that climbs that sets up in the both sides of automobile body and the meshing of track realizes that the transport vechicle carries out vertical climbing along track direction on the goods shelves to both realized that the transport vechicle can enough carry out the level and go straight, can also carry out perpendicular climbing on the goods shelves, the operation track of transport vechicle has been richened, thereby the efficiency of transport vechicle operation has been improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1a is a schematic view of the overall structure of a transport vehicle according to an exemplary embodiment of the present invention;

FIG. 1b is a schematic view of a portion of the transporter depicted in FIG. 1 a;

FIG. 2a is a schematic view of a vehicle body structure;

FIG. 2b is an exploded view of the vehicle body structure;

FIG. 3a is a structural elevation view of the climbing assembly;

figure 3b is a structural axonometric view of the climbing assembly;

FIG. 3c is an isometric view of another construction of the climbing assembly;

FIG. 4a is a schematic diagram of a drive train;

FIG. 4b is a schematic cross-sectional view of the drive train;

FIG. 5a is a schematic view illustrating a cargo pick-and-place state of the transportation vehicle;

FIG. 5b is an enlarged schematic view at A in FIG. 5 a;

FIG. 5c is an enlarged schematic view at B in FIG. 5 a;

fig. 6 is a schematic structural diagram of a warehousing system according to an exemplary embodiment of the present invention.

Detailed Description

First, in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Next, it should be noted that, in the description of the embodiments of the present invention, the terms of direction or positional relationship indicated by the terms "inside", "outside", and the like are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or member must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention.

Furthermore, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" in the description of the embodiments of the present invention are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.

Fig. 1a is a schematic diagram illustrating an overall structure of a transportation vehicle according to an exemplary embodiment of the present invention, and fig. 1b is a schematic diagram illustrating a partial structure of the transportation vehicle illustrated in fig. 1 a. As shown in fig. 1a to fig. 1b, the transportation vehicle provided in this embodiment includes: a vehicle body 110, a drive train 120, and a climbing assembly 130.

Specifically, the driving wheel train 120 is disposed at the bottom of the vehicle body 110, the driving wheel train 120 may be composed of a plurality of wheel trains, and a universal wheel may be disposed at the bottom of the vehicle body 110 to assist the transportation vehicle in steering. It should be noted that the wheels of the drive train 120 are coupled to the drive mechanism to drive the vehicle in a horizontal motion.

The climbing assemblies 130 are disposed on both sides of the vehicle body 110, and the climbing assemblies 130 are configured to engage with a rail disposed on the rack, so that the transportation vehicle can vertically climb along the rail. It should be noted that the end executing mechanism of the climbing assembly 130 may be a sprocket or a gear, and a chain or a rack that is matched with the climbing assembly 130 may be disposed in the corresponding rack track, and after the climbing assemblies 130 at two sides of the vehicle body 110 are respectively engaged with the corresponding tracks at two sides, the executing mechanism of the climbing assembly 130 moves, for example, the sprocket or the gear in the climbing assembly 130 rotates, so that the climbing assembly 130 carries the transportation vehicle to vertically climb along the track direction.

In this embodiment, drive the transport vechicle through the drive train that sets up in the bottom of automobile body and carry out horizontal motion, and set up through the subassembly that climbs that sets up in the both sides of automobile body and the orbital meshing realizes the transport vechicle and carry out vertical climbing along rail direction on the goods shelves to both realized that the transport vechicle can enough carry out horizontal straight going, can also carry out the function of vertical climbing on the goods shelves, richened the orbit of transport vechicle, thereby improved the efficiency of transport vechicle operation.

On the basis of the above embodiment, fig. 2a is a schematic view of a vehicle body structure, and fig. 2b is an exploded schematic view of the vehicle body structure. As shown in fig. 2a to 2b, the vehicle body in this embodiment includes: a main body frame 112, a cargo box pick-and-place assembly support frame 111, and a battery compartment frame 113. The main body frame 112, the cargo box taking and placing component supporting frame 111, and the battery compartment frame 113 are all welded frame structures, and the cargo box taking and placing component supporting frame 111 and the battery compartment frame 113 are detachably mounted on the main body frame 112, specifically, may be connected by bolts. Alternatively, the container pick-and-place assembly support frame 111 may be bolted above the main body frame 112 and the battery compartment frame 113 may be bolted below the main body frame 112. In addition, it should be noted that the container pick-and-place assembly 140 may be disposed on the container pick-and-place assembly support frame 111, and the battery assembly 160 may be disposed on the battery compartment frame 113.

Figure 3a is a structural front view of the climbing assembly, figure 3b is a structural axial view of the climbing assembly, and figure 3c is another structural axial view of the climbing assembly. As shown in fig. 1 a-1 b and 3 a-3 c, the climbing assembly 130 comprises: the power assembly and the transmission assembly, wherein, the output of power assembly is connected with the input of transmission assembly, and the output of transmission assembly is used for engaging with the track. And the power assembly includes: motor 131 and transmission pair 134, wherein, motor 131 is connected with the input of transmission pair 134, and the output of transmission pair 134 is connected with the input of transmission assembly. Further, the climbing assembly 130 may further include: a telescopic assembly 137 disposed at both sides of the vehicle body, a bracket 138 disposed at a moving end of the telescopic assembly 137, and a transmission shaft 134. Specifically, the motor 131 is connected to the input end of the transmission pair 134, the output end of the transmission pair 134 is connected to the transmission shaft 136, the two ends of the transmission shaft 136 are respectively provided with a rotating component, such as a sprocket 135, and the transmission shaft 136 is rotatably connected to the bracket 138.

The transmission pair 134 may be a chain transmission, a gear transmission or a belt transmission, and in this embodiment, the specific form of the transmission pair 134 is not limited, and it is only required to ensure that the power of the motor 131 can be transmitted to the transmission shaft 136.

In addition, a speed limiting assembly 132 and a speed reducer 133 can be arranged between the motor 131 and the transmission pair 134, wherein one end of the speed limiting assembly 132 is connected with an output shaft of the motor 131, the other end of the speed limiting assembly 132 is connected with an input end of the speed reducer 133, and an output end of the speed reducer 133 is connected with the transmission pair 134. It will be appreciated that the governor assembly 132 is adapted to brake or even lock the drive pair 134 in the event of a vehicle drop due to an electrical fault, thereby protecting the vehicle. The reducer 133 is used to convert the high rotation speed output by the motor 131 into a low rotation speed, thereby increasing the torque.

When the transporter is climbing vertically, the telescoping assembly 137 extends, causing the brackets 138 to extend outwardly so that the sprockets 135 disposed in the brackets 138 engage the chain in the track to form a kinematic pair. And when the carriage moves horizontally, the telescopic assembly 137 is retracted to disengage the sprocket 135 provided in the bracket 138 from the chain in the track to release the formed kinematic pair. It is understood that the retraction assembly 137 may be a hydraulic rod, a pneumatic rod, or other retractable member or transmission mechanism, and is not specifically limited in this embodiment.

When the transport vehicle needs to be switched from horizontal movement to vertical climbing, the transport vehicle first runs to a designated position near the shelf under the guidance of the navigation module 150, wherein the navigation module 150 may be a two-dimensional code navigation module. Since the sprocket 135 in the bracket 138 needs to be aligned with the chain in the track when the transportation vehicle climbs vertically, however, when the transportation vehicle reaches a position under the guidance of the navigation module 150, the transportation vehicle has some deviation from the specified position where the transportation vehicle actually needs to stop, so that the relative position between the transportation vehicle and the shelf has a position deviation, and the sprocket 135 in the bracket 138 cannot be aligned with the chain in the track strictly.

With continued reference to fig. 3 a-3 c, to enable the transport vehicle to perform vertical climbing by aligning the sprockets 135 of the frame 138 with the chains in the track, an alignment wheel set 139 may also be provided on the frame 138. Optionally, the alignment wheel set 139 includes two alignment wheels disposed oppositely, and when the telescopic assembly extends out, the alignment block 220 disposed at the end of the shelf is embedded between the two alignment wheels, so that the two alignment wheels can move along the two side walls of the alignment block 220 respectively to complete alignment of the alignment wheel set 139 and the alignment block 220, thereby realizing a relative position relationship that the sprocket 135 and the chain in the track meet the requirement of meshing. It is worth mentioning that the guide block 220 may be disposed on the bottom side wall of the shelf, and the outward portion of the guide block 220 may be set as a convex arc, so that when the alignment wheel set 139 moves toward the guide block 220, the guide block 220 can be more easily attached to the side wall of the guide block, and reaches a designated position under the guidance of the guide block 220, so as to align the chain wheel 135 with the chain in the track, thereby ensuring that the relative position between the transport vehicle and the shelf meets the relative position requirement for vertical climbing.

In addition, with continued reference to fig. 3c, the guide block 220 may include a guide block base 221 and a guide block body 222, wherein the guide block base 221 is configured to be mounted on the shelf, and in particular, may be mounted by means of a bolt connection. The guide block body 222 is arranged toward the transportation vehicle, and besides the front end of the guide block body 222 is arranged in a convex arc shape, the upper end surface boundary of the guide block body 222 can also be arranged in an arc shape, a round shape or a chamfer shape. Therefore, when the transport vehicle descends to the ground from the goods shelf, the alignment wheel set 139 slides down along the boundary of the upper end face of the guide block body 222, so that the impact is reduced, and in addition, the situation that the transport vehicle cannot be switched from the vertical climbing mode to the horizontal operation mode due to the fact that the transport vehicle is clamped at the upper end of the guide block body 222 can be effectively prevented.

On the basis of the above embodiments, fig. 4a is a schematic structural diagram of a drive train, and fig. 4b is a schematic sectional diagram of the drive train. As shown in fig. 4 a-4 b, the drive train 120 in the above embodiment includes: the vehicle comprises a mounting seat 121, a swing arm 122, a buffer assembly and wheels 123, wherein the mounting seat 121 is arranged at the bottom of the vehicle body 110, a first end of the swing arm 122 is hinged to the mounting seat 121, a second end of the swing arm 122 is connected with the first end of the buffer assembly, and the second end of the buffer assembly is connected to a vehicle body 124. It should be appreciated that the impact force of the transportation vehicle on the rack down to the ground can be buffered by disposing the wheel 123 in the middle of the swing arm 122, pivotally connecting the first end of the swing arm 122 to the mounting seat 121, and disposing the buffer assembly between the second end of the swing arm 122 and the vehicle body 110.

Optionally, the buffer assembly may include: the vehicle body comprises a limiting rod 124, a spring 125 and a limiting ring 126, wherein the limiting rod 124 sequentially penetrates through the vehicle body 110, the spring 125 and the swing arm 126, and the limiting ring 126 is arranged at one end, far away from the vehicle body 110, of the limiting rod 124. By providing a damping assembly of the above type, a positive pressure can be provided by the spring 125 when the vehicle is travelling, and damping can be provided when the vehicle is lowered from the shelf to the ground, and the range of movement of the spring 125 is limited by providing a stop collar 126 at one end of the stop rod 124.

In addition, in order to ensure that the vehicle body maintains a correct posture during climbing, the detection holes of the racks on the two sides can be detected in a mode of arranging a detection device on the vehicle body 110, and then the aim of correcting the posture of the vehicle body in real time can be fulfilled according to the detection result.

Specifically, fig. 5a is a schematic view of a transportation vehicle in a pick-and-place state, fig. 5B is an enlarged schematic view of a point a in fig. 5a, and fig. 5c is an enlarged schematic view of a point B in fig. 5 a. As shown in fig. 5 a-5 c, a first sensor 180 may be disposed on one side of the vehicle body 110 on the climbing assembly 130, and a second sensor 182 may be disposed on the other side of the vehicle body 110, with the first sensor 181 and the second sensor 182 being connected to a control assembly 190 disposed on the vehicle body 110. The first sensor 181 and the second sensor 182 are the same sensor, for example, may be a diffuse reflection optical sensor, and the detection principles of the two sensors are the same, so the detection principle of the second sensor 182 will not be described in detail in this embodiment. Specifically, the first sensor 181 is configured to detect a first detection hole 211 on the rail 210 on the corresponding side, and the second sensor is configured to detect a second detection hole on the rail on the corresponding side, where the first detection hole 211 and the second detection hole are located at the same height.

With continued reference to fig. 5a, it is worth understanding that the two rails arranged in parallel are respectively provided with a detection hole series, and the detection holes on the detection hole series on the two rails are in a one-to-one correspondence relationship, and the heights of the detection holes corresponding to each group are consistent. The first detecting hole 211 and the second detecting hole in the above embodiments may be any set of detecting holes on two tracks.

In the process of climbing the transport vehicle, the control component 190 determines the height difference of the two sides of the transport vehicle according to the time difference between the first detection hole 211 and the second detection hole and the current climbing speed of the transport vehicle, and then, in combination with the encoder of the motor, the rotation speed of the motor in the two-side climbing component 130 or the rotation amount of the fixed time is adjusted, so that the two sides of the transport vehicle form a stroke difference for compensating the height difference, thereby correcting the inclined posture, and enabling the transport vehicle to keep the posture perpendicular to the track 210 on the shelf 200 for vertical climbing.

With continuing reference to fig. 1 a-1 b, on the basis of the foregoing embodiment, the transportation vehicle provided in this embodiment further includes: a container pick and place assembly 140, in particular, the container pick and place assembly 140 is disposed on the body 110, in particular, the container pick and place assembly 140 may be disposed on the container pick and place assembly support frame 111, and the container pick and place assembly 140 is used to pick and place a container placed on the pallet 200.

As will be appreciated, the container pick and place assembly 140 includes: a container taking and placing expansion plate 141 and a driving mechanism, wherein the container taking and placing expansion plate 141 can extend out or retract into the vehicle body 110 under the driving of the driving mechanism. The container taking and placing expansion plate 141 may be slidably connected to the vehicle body 110, one end of the driving mechanism is connected to the bottom of the container taking and placing expansion plate 141, the movable end is connected to the container taking and placing expansion plate 141, and the container taking and placing expansion plate 141 is driven by the driving mechanism to perform an expansion and contraction movement relative to the vehicle body 110. It should be understood that the driving mechanism may be a rack and pinion structure, a belt transmission mechanism, or a chain transmission mechanism, and the specific form of the driving mechanism is not limited in this embodiment.

The following describes in detail the process of picking and placing the container of the transport vehicle provided in this embodiment in combination with an actual work flow:

first, for the picking process, the transport vehicle ascends along the rail 210 on the shelf 200 to a designated position, and then the container pick-and-place expansion plate 141 in the container pick-and-place assembly 140 is controlled to start to extend to be inserted into the reserved pick-and-place gap between the lower surface of the container and the shelf 200. And after the container taking and placing expansion plate 141 extends out of the designated stroke, the transport vehicle continues to be controlled to ascend along the track 210 on the goods shelf 200 for a certain stroke, so that the container is separated from the goods shelf 200 under the lifting action of the container taking and placing expansion plate 141. Then, the container taking and placing expansion plate 141 is controlled to start to retract, and at this time, the container is moved to the transport vehicle along with the retraction of the container taking and placing expansion plate 141, thereby completing the cargo taking process.

In addition, for the stocking process, the transportation vehicle can climb along the rail 210 on the shelf 200 to a designated position, and the designated position here can be understood as a position where the bottom of the container on the transportation vehicle can still keep a certain gap with the shelf 200 after the container pick-and-place expansion plate 141 is extended. The container pick-and-place expansion plate 141 of the container pick-and-place assembly 140 is then controlled to extend, and the container placed on the transport vehicle moves toward the rack side along with the extension of the container pick-and-place expansion plate 141. After the container taking and placing expansion plate 141 extends out of the specified stroke, the transport vehicle is controlled to descend along the track 210 on the goods shelf 200 for a certain stroke, so that the bottom of the container falls on the goods shelf 200, then the container taking and placing expansion plate 141 is controlled to retract, so that the container taking and placing expansion plate 141 is separated from the bottom of the container, and the goods placing process is completed.

In addition, to ensure that the container pick-and-place assembly 140 can accurately control the extending stroke when a container is placed on the shelf 200 to facilitate subsequent placement, a third sensor 183 may be disposed on the vehicle body 110, wherein the third sensor 183 is connected to a control assembly 190 disposed on the vehicle body 110, and the third sensor 183 may be a diffuse reflection optical sensor.

Specifically, when the container taking and placing expansion plate 141 extends out, the third sensor 183 is shielded, and when the container taking and placing expansion plate 141 is completely retracted, the shielding of the third sensor 183 is stopped, so that when the container taking and placing expansion plate 141 extends out from the retracted state, the control assembly 190 can acquire the moment when the front end of the container taking and placing expansion plate 141 shields the third sensor 183. Then, the control unit 190 may further continue to obtain the current extending speed of the container pick-and-place expansion plate 141, and determine the operation time required by the container pick-and-place expansion plate 141 to complete the cargo placement according to the preset positioning distance, where the preset distance is the distance between the dead stop portion 212 on the shelf 2 and the third sensor 183. It is understood that the stop 212 may be the innermost position of the pallet 200 where a container is placed, and when the transporter 100 travels to a designated cargo position, the distance between the third sensor 183 fixedly disposed on the transporter 100 and the stop 212 fixedly disposed on the pallet 200 is a fixed value, which may be written into the control assembly 190 as the above-mentioned preset positioning distance.

Fig. 6 is a schematic structural diagram of a warehousing system according to an exemplary embodiment of the present invention. As shown in fig. 6, a storage system according to an embodiment of the present invention includes a shelf 200 and a transportation cart 100 according to any of the above embodiments.

Specifically, the transportation vehicle 100 is engaged with the rails 210 on the racks 200 on both sides respectively through the climbing assemblies disposed on both sides of the vehicle body, so that the transportation vehicle 100 can vertically climb in the direction of the rails 210.

It is worth explaining, the warehousing system that this embodiment provided can be through utilizing can enough carry out horizontal motion, can realize the transport vechicle of vertical climbing again and come to get to put and transport the goods on the goods shelves, has improved warehousing system's operating efficiency greatly.

In the description of the embodiments of the present invention, it should be understood that the terms "center", "length", "width", "thickness", "top", "bottom", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", "axial", "circumferential", etc. used to indicate the orientation or positional relationship may be based on the orientation or positional relationship shown in the drawings, and are only for convenience of description of the embodiments of the present invention and to simplify the description, but do not indicate or imply that the position or element referred to must have a particular orientation, be of particular construction and operation, and therefore should not be construed as limiting the embodiments of the present invention.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; may be mechanically coupled, may be electrically coupled or may be in communication with each other; either directly or indirectly through intervening media, such as through internal communication or through an interaction between two elements. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations. Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature is generally intended to include the first feature being directly under and obliquely below the second feature, or merely to indicate that the first feature is at a lesser level than the second feature.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transportation vehicle, comprising: the climbing device comprises a vehicle body, a driving gear train and a climbing assembly;

2. The transport vehicle of claim 1, wherein the climbing assembly comprises: a power assembly and a transmission assembly;

3. The transporter according to claim 2, wherein the power assembly comprises: a motor and a transmission pair;

4. The transport vehicle of claim 3, wherein the climbing assembly further comprises: the telescopic components are arranged on two sides of the vehicle body, and the bracket and the transmission shaft are arranged at the moving end of the telescopic components;

the output end of the transmission pair is connected with the transmission shaft, two ends of the transmission shaft are respectively provided with a rotating part, and the transmission shaft is rotationally connected to the bracket;

5. The transportation vehicle of claim 4, wherein the bracket is provided with an alignment wheel set;

6. The transporter according to claim 1, wherein the drive train comprises: the device comprises a mounting seat, a swing arm, a buffer assembly and a wheel;

the mounting seat is arranged at the bottom of the vehicle body;

the wheels are arranged between two ends of the swing arm.

7. The transporter of claim 6, wherein the buffer assembly comprises: the limiting device comprises a limiting rod, a spring and a limiting ring;

8. The transportation vehicle as claimed in any one of claims 3 to 5, characterized in that a first sensor is arranged on the climbing assembly on one side of the vehicle body, a second sensor is arranged on the climbing assembly on the other side of the vehicle body, and the first sensor and the second sensor are respectively connected with a control assembly arranged on the vehicle body;

9. The transporter according to claim 1, further comprising: the container picking and placing assembly;

the container taking and placing assembly is arranged on the vehicle body;

10. The transport vehicle of claim 9, wherein the container pick-and-place assembly comprises: the container taking and placing expansion plate and the driving mechanism;

11. The transporter according to claim 10, further comprising: the third sensor is arranged on the vehicle body and is connected with the control component arranged on the vehicle body;

12. Transporter according to any of claims 9-11, characterized in that the body comprises: the device comprises a main body frame, a container taking and placing assembly supporting frame and a battery compartment frame;

and the battery bin frame is provided with a battery component.

13. A storage system comprising a rack and a transporter according to any of claims 1-10.